CN210526699U

CN210526699U - Robot walking mechanism

Info

Publication number: CN210526699U
Application number: CN201920960532.8U
Authority: CN
Inventors: 张伟民; 周瑜; 黄强
Original assignee: Beijing Haribit Intelligent Technology Co ltd
Current assignee: Beijing Haribit Intelligent Technology Co ltd
Priority date: 2019-06-24
Filing date: 2019-06-24
Publication date: 2020-05-15
Anticipated expiration: 2029-06-24

Abstract

The application discloses running gear of robot, including the chassis to and two drive wheels and two at least universal wheels, two universal wheels set up in the chassis lower part, two drive wheels are connected and rotate along vertical plane through a coupling assembly and chassis respectively, are connected with elastic element between two drive wheels. The utility model discloses a running gear to the robot improves, makes it both have less turning radius, can adapt to uneven ground again, possesses higher stability and space utilization, simple structure, is convenient for make and maintain.

Description

Robot walking mechanism

Technical Field

The application relates to a robot running gear, particularly relates to a robot running gear.

Background

At present, service robots walk into our lives and can all walk independently, wherein the service robots comprise welcoming robots in shopping malls, security monitoring robots, household sweeping robots and the like. The existing robot chassis has a structure that one part adopts three wheels, two driving wheels and one following wheel, and the speed difference of the two driving wheels is relied on when the robot chassis turns, so that the structure is simple, and the reliability is good. However, in a place with a large pedestrian volume, such as a shopping mall, the robot with the chassis three-wheel structure has poor stability, and has the possibility of falling down when encountering external force. If the space required by the robot when turning is limited to a certain extent in a place with compact space, such as a home, the chassis three-wheel structure can realize zero-radius turning, but the turning center is not coincident with the geometric center of the robot, so that the robot needs larger space when turning, the moving range of the robot is limited, and the using range and the using effect of the robot are influenced. In order to avoid the situation, a part of robots adopt a four-wheel structure, the left driving wheel and the right driving wheel are respectively arranged, the connecting line of the two driving wheels passes through the geometric center of the robot, and the front universal wheel and the rear universal wheel are respectively arranged. However, the requirement of the structure on the ground is very high, and the ground is slightly uneven, so that the driving wheels are suspended, and the robot cannot walk normally. Some robot chassis adopt a method of adjusting partial wheels to adapt to the ground, but the adjustable parts are arranged on the chassis, so that the overall space utilization of the robot is influenced.

A mobile robot chassis with a suspension is disclosed in the patent application No. 201720260017. X. The device comprises a base, two driving devices and two suspension devices, wherein the bottom of the base is provided with four universal driven wheels, and the top of the base is provided with two accommodating grooves; the two driving devices are arranged in the two accommodating grooves in a penetrating mode and provided with driving wheels, and the lowest points of the driving wheels are lower than the lowest points of the universal driven wheels; the suspension device is provided with a suspension assembly, the suspension assembly comprises a first connecting element and a guide element, the head end of the first connecting element is connected to the bottom of the driving device, the guide element sequentially penetrates through the tail end of the first connecting element and the base, the head end of the guide element is sleeved with an elastic element, and the tail end of the guide element extends out of the bottom of the base and is in spherical hinge connection with a connecting seat fixed at the bottom of the base; the head end of the elastic element is fixed, the tail end of the elastic element is pressed on the tail end of the first connecting element, and the elastic element is in a compressed state. The chassis enables the driving wheel to be always attached to the ground, so that the driving wheel cannot be separated from the ground and slip; meanwhile, the vibration damping performance is improved. The robot chassis is comparatively complicated on the one hand structure among this technical scheme, is not convenient for make and maintain, and on the other hand is because elastic element sets up for vertical direction, and drive arrangement passes through the hinge and connects for rotate, makes the elastic element activity obstructed, thereby influences the walking ability of robot.

Disclosure of Invention

The main aim at of this application provides a running gear of robot to solve the poor problem of adaptability of current robot to ground environment.

The robot walking mechanism comprises a chassis, two driving wheels and two driven wheels, wherein the two driven wheels are arranged on the lower portion of the chassis, the two driving wheels are connected with the chassis through a connecting assembly respectively and rotate along a vertical plane, and an elastic element is connected between the two driving wheels.

Furthermore, the two groups of connecting assemblies are provided, each group of connecting assemblies comprises a support and a hinge shaft, one end of the support is connected with the driving wheel, the other end of the support is fixedly connected with the hinge shaft, and the hinge shaft is parallel to the chassis and can rotate in the vertical direction.

Further, the axis connecting line of the two driving wheels passes through a perpendicular line of the geometric center of the chassis.

Furthermore, the lower part of the chassis is provided with a hinge support, and the hinge shafts of the two groups of connecting assemblies are parallel to each other and are respectively arranged in the hinge support through a bearing.

Further, the bracket includes an inverted U-shaped portion connected to a connection shaft of the driving wheel, and a connection portion connecting the inverted U-shaped portion and the connection shaft.

Further, the elastic element is in a stretching state when the driving wheel is flush with the bottom of the driven wheel.

Furthermore, the driven wheels are universal wheels, the number of the universal wheels is two, and the two universal wheels are arranged in an axisymmetric mode by taking a connecting line of the two driving wheels as an axis.

Further, the top of the inverted U-shaped part is a horizontal plane.

Further, the driving wheel is connected with the motor and is controlled by an electric control system.

Further, the elastic element is a spring.

The utility model discloses a running gear to the robot improves, makes it both have less turning radius, can adapt to uneven ground again, possesses higher stability and space utilization, simple structure, is convenient for make and maintain.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:

FIG. 1 is a schematic diagram of a robot walking mechanism according to one embodiment of the present application;

fig. 2 is a partial schematic structural view of the robot running mechanism according to an embodiment of the present application (one side driven wheel is not shown).

In the figure: the device comprises a chassis 100, a driving wheel 101, a universal wheel 102, a hinge support 103, a bearing 104, a hinge shaft 105, a support 106, a lifting bolt 107, a spring 108 and an electric control system 109.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1 and 2, the robot traveling mechanism includes a chassis 100, two driving wheels 101, and two universal wheels 102. The two driving wheels 101 are arranged on the left side and the right side of the chassis 100 through a group of connecting components, and the axis connecting line of the two driving wheels 101 passes through the vertical line of the geometric center of the chassis 100. The turning center is ensured to coincide with the geometric center of the robot, so that the turning radius of the robot is reduced, and the robot can turn and travel in a small space. Two universal wheels 102 are respectively installed in the front and rear of the chassis 100 as driven wheels, and a line connecting the two universal wheels 102 passes through a perpendicular line of the geometric center of the chassis 100. The support area of the four wheels is large, and the stability of the robot is guaranteed.

In this embodiment, a hinge support 103 is disposed at a bottom center of the chassis 100, and the hinge support 103 includes two support plates facing each other in a front-to-back direction.

In this embodiment, each set of connecting members includes a hinge shaft 105 and a bracket 106, and the two hinge shafts 105 are disposed between the two support plates in parallel and connected with the support plates through bearings 104. Two hinge shafts 105 are connected to two brackets 106, respectively. The two supports 106 are arranged in mirror symmetry with the central line of the chassis 100 as an axis, each support 106 is provided with an inverted U-shaped part and a connecting part, the top of the inverted U-shaped part is a horizontal plane so as to be convenient for the chassis 100 to be attached to form a supporting surface, the connecting part is a horizontal part, two ends of the connecting part are respectively connected with the upper part of the side surface of the inverted U-shaped part and the hinge shaft 105, and the driving wheel 101 is arranged in the U-shaped opening through a connecting shaft of the driving. The driving wheel 101 is rotated about the hinge shaft 105 along a vertical plane by the connecting assembly.

The inner side surfaces of the inverted U-shaped parts of the two brackets 106 are respectively provided with a lifting bolt 107, and a spring 108 is horizontally arranged between the two lifting bolts 107. When the driving wheel 101 is flush with the bottom of the universal wheel 102, the spring 108 is in a stretching state; in the free state, the drive wheel 101 is lower than the caster wheel 102 by the spring 108.

In this embodiment, the driving wheel 101 is connected to an in-wheel motor (not shown) and is controlled by an electronic control system 109. The robot is driven by a hub motor when traveling, and functions such as forward movement, backward movement, turning, and the like are realized by changes in the speed and the steering of the driving wheel 101.

In the process of the robot moving, the universal wheel 102 positioned in front is lifted when encountering steps or projections higher than the ground, so that the driving wheel 101 tends to be separated from the ground, and the driving wheel 101 is pressed downwards under the action of the pulling force of the spring 108, so that the driving wheel 101 is ensured to be in close contact with the ground, and the robot can move smoothly.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. The utility model provides a running gear of robot, includes the chassis to and two drive wheels and at least two follow driving wheels, two follow driving wheel and set up in the chassis lower part, its characterized in that: the two driving wheels are respectively connected with the chassis through a connecting assembly and rotate along a vertical plane, and an elastic element is connected between the two driving wheels.

2. The robot traveling mechanism according to claim 1, wherein the connecting members are provided in two sets, each set of the connecting members includes a bracket and a hinge shaft, one end of the bracket is connected to the driving wheel, and the other end of the bracket is fixedly connected to the hinge shaft, and the hinge shaft is parallel to the chassis and can rotate in a vertical direction.

3. The robot walking mechanism of claim 1, wherein a line connecting axes of the two driving wheels passes through a perpendicular line of the geometric center of the chassis.

4. The robot walking mechanism of claim 2, wherein the lower part of the chassis is provided with a hinge support, and the hinge shafts of the two sets of connecting assemblies are parallel to each other and are respectively arranged in the hinge support through a bearing.

5. The robot traveling mechanism according to claim 2, wherein the bracket includes an inverted U-shaped portion connected to the connection shaft of the driving wheel, and a connection portion connecting the inverted U-shaped portion and the connection shaft.

6. The robotic walking mechanism of claim 1, wherein the elastic member is in tension when the driving wheel is flush with the bottom of the driven wheel.

7. The robot traveling mechanism according to claim 1, wherein the driven wheels are two universal wheels, and the two universal wheels are arranged axisymmetrically with respect to a line connecting the two driving wheels.

8. The robotic walking mechanism of claim 5, wherein a top of the inverted U-shaped portion is a horizontal plane.

9. The robot walking mechanism of claim 1, wherein the driving wheels are connected to a motor and controlled by an electronic control system.

10. The robotic running mechanism of any one of claims 1 to 9 wherein the resilient element is a spring.